CN109551480A - A kind of variation rigidity controls integrated robot revolute joint module - Google Patents
A kind of variation rigidity controls integrated robot revolute joint module Download PDFInfo
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- CN109551480A CN109551480A CN201811562427.5A CN201811562427A CN109551480A CN 109551480 A CN109551480 A CN 109551480A CN 201811562427 A CN201811562427 A CN 201811562427A CN 109551480 A CN109551480 A CN 109551480A
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- Prior art keywords
- joint
- encoder
- transmission shaft
- module
- variation rigidity
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
Abstract
A kind of variation rigidity controls integrated robot revolute joint module, including joint housing, joint exports turntable, drive control device, transmission mechanism, torque sensor, variation rigidity module, first encoder and second encoder, transmission mechanism includes rimless motor, transmission shaft and harmonic speed reducer, rimless motor includes stator and rotor, stator is fixed in joint housing, transmission shaft is connect with rotor engagement, one end of transmission shaft and the wave producer of harmonic speed reducer connect, the steel wheel of harmonic speed reducer is connect with variation rigidity module one end, the variation rigidity module other end exports turntable with joint by torque sensor and is fixedly connected；First encoder is used to measure the angular displacement information of joint output turntable, and second encoder is used to measure the angular displacement information of rotor；The control terminal of rimless motor is electrically connected with drive control device, and torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.The present invention realizes stiffness reliability and the torque output control of joint module.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of variation rigidity controls integrated robot revolute joint mould
Block.
Background technique
With the high speed development of modern industrial technology, robot is had been widely used in all trades and professions.Such as automotive field
Welding, spraying, heat treatment, transport, automatic assembling, loading and unloading and detection etc., secondly transport, harbour, food and drug with
And the fields such as electronic manufacture robot is also gradually substituting and is manually being engaged in the repeatability such as heavy dull packaging, transport, carrying
Operation.But precision assembly, repair scrape or the tasks such as grinding workpiece surface, polishing and scouring in using seldom because
It needs end effector of robot to contact in similar task with environment and keeps certain contact force, this just needs robot to have
There are external force perception and power control function.
The mature robot product with power control function is few at present or its price is very high, usually general industry
Several times or more of robot.Simultaneously as the application range of robot expands, some tasks need machine person to person cooperation common
It completes, this just proposes very high requirement to the security performance of robot.The security performance of robot generally uses two kinds at present
Scheme solves, and guarantees safety when interacting with people one is the rigidity by changing robotic structure；Another kind is logical
The control algolithm strategy of software view is crossed to realize the flexibility when contact of the object in machine human and environment.
There are also solutions at present is proposed by everybody, such as a kind of rotary-type flexible joint (Shen of Hebei University of Technology
Please number: 201410653785.2), which includes motor, motor rack, mounting plate, the first connecting plate, the first synchronous belt
Wheel, the first synchronous pulley cover board, synchronous belt, retarder, retarder flange, spring mounting rack, spring output shelf, output panel,
It is two connecting plates, synchronous belt end cap, third connecting plate, crossed roller bearing, bearing outer ring cover board, bearing inner race cover board, first flat
Key, retarder flange end cap, spring, the second flat key, third flat key, the second synchronous pulley and the second synchronous pulley cover board.The hair
Although bright patent solves the problems, such as joint of robot flexibility, but the structure in entire joint it is not compact enough, be not very beautiful in appearance
And cannot really be applied in joint of robot, do not accomplish the closed-loop feedback of Torque Control yet.
Therefore can develop that integrated level is high, cost performance is high can force control robot joint module for expanding robot
Application range will generate huge meaning, while can also greatly improve the security performance of robot.
Summary of the invention
Present invention aims to overcome that the shortcomings that prior art and insufficient, provides a kind of variation rigidity and control integrated machine
Moment inspecting and the control of joint of robot may be implemented to realize the power control of entire serial manipulator in people's revolute joint module
System；The joint of robot modular structure is simple and compact, and joint transmission precision is high, and torque output accuracy is high, and uses interior cabling
Mode, tailored appearance is beautiful, inherently improves the safety and reliability of robot.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of variation rigidity controls integrated robot revolute joint module, including joint housing, joint output turntable, driving
Controller, transmission mechanism, torque sensor, variation rigidity module, the first encoder and second encoder, transmission mechanism include rimless
Motor, transmission shaft and harmonic speed reducer, rimless motor include stator and rotor, and the stator of rimless motor is fixed on joint housing
Interior, transmission shaft is connect with the rotor engagement of rimless motor, and one end of transmission shaft and the wave producer of harmonic speed reducer connect, harmonic wave
The steel wheel of retarder is fixedly connected with variation rigidity module one end, and the variation rigidity module other end is exported by torque sensor and joint
Turntable is fixedly connected；First encoder is used to measure the angular displacement information of joint output turntable or torque sensor, the second coding
Device is used to measure the angular displacement information of rotor or transmission shaft；The control terminal of rimless motor is electrically connected with drive control device, and torque passes
Sensor, the first encoder and second encoder are electrically connected with drive control device respectively.
From the foregoing, it will be observed that the present invention rotates and realizes the revolution of joint output turntable using rimless motor driven transmission shaft, and
The angular displacement information that joint exports turntable or torque sensor is read by the first encoder, rotor is obtained by second encoder
Angular displacement information, by torque sensor measure joint export turntable suffered by moment of face, then drive control device is according to rotor
Angular displacement information, joint output turntable angular displacement information and suffered moment of face, utilize drive control device preset control calculation
Method controls rimless motor rotation.Drive control device exports turntable by the angular displacement information and joint for obtaining rimless rotor
Angular displacement information obtains the deflection angle of rimless rotor and the deflection angle of joint output turntable, and is passed by torque
Sensor obtains the moment of face that outer bound pair joint module applies, and provides necessary condition for the closed-loop feedback of Torque Control, therefore can
The Torque Control of joint module and the Shared control of robot are realized, to improve joint transmission precision and torque output accuracy.
Additionally incorporated variation rigidity module so that robot overcome by algorithm realize Shared control occur bandwidth not enough, control
The problems such as system-computed amount is big, response lag.In practical applications, due to not needing such as in the task of some human-computer interactions
Robot has high-precision but has to can guarantee man-machine safety, the rigidity value of joint module can be turned down i.e. robot
Whole rigidity is turned down, to improve the safety of human-computer interaction.
As an improvement of the present invention, the harmonic speed reducer and transmission shaft are equipped with hollow hole, and the hollow hole is used
In taking the inner line.
Further, the steel wheel of the harmonic speed reducer is fixedly connected by intermediate connector with variation rigidity module one end.
As an improvement of the present invention, first encoder is absolute type encoder, and absolute type encoder includes magnetic
Ring and reading head, the torque sensor are wheel spoke type sensor, and wheel spoke type sensor includes inner ring, outer ring and strain beam, absolutely
Formula encoder magnet ring is fixed in the inner ring of torque sensor by the first mounting base, first support is equipped in joint housing,
Absolute type encoder reading head is fixed in first support and corresponding with the position of absolute type encoder magnet ring；Torque sensor
Outer ring and joint output turntable be fixedly connected by screw, the inner ring and the variation rigidity module other end of torque sensor pass through spiral shell
Nail is fixedly connected.
As an improvement of the present invention, the second encoder is incremental encoder, and incremental encoder includes magnetic
Ring and reading head, incremental encoder magnet ring is fixed in transmission shaft the other end face by the second mounting base, in joint housing
Equipped with second support, the fixation of incremental encoder reading head is on the secondary support bracket and opposite with the position of incremental encoder magnet ring
It answers.
As an improvement of the present invention, the transmission shaft other end is equipped with the stop machine for preventing transmission shaft from arbitrarily rotating
Structure, when joint module is powered, transmission shaft can be freely rotated, and when joint module power loss, transmission shaft is stopped mechanism and blocks not
It can be freely rotated.
As an improvement of the present invention, the stop mechanism includes electromagnet, reset spring, armature and stop snap ring,
On the transmission shaft other end, electromagnet and armature are located in joint housing stop snap ring fixing sleeve, the electricity when joint module is powered
Magnet is powered, and electromagnet and armature are attracted, and armature is in attracted position, and transmission shaft can be freely rotated, when joint module power loss
When electromagnet power loss, armature is replied under action of reset spring moves position to end, and stop snap ring blocked by armature, and transmission shaft cannot
It is freely rotated.
As an improvement of the present invention, the stop mechanism further includes the first limit convex shoulder, wave washer and the second limit
Fixation is located on the transmission shaft other end respectively for position convex shoulder, the first limit convex shoulder and the second limit convex shoulder, wave washer and stop
Ring set is on the transmission shaft other end and is sequentially located between the first limit convex shoulder and the second limit convex shoulder, and stop snap ring is by Corrugation pad
Circle and the second limit convex shoulder squeeze and clamp and cover on the transmission shaft other end.
Further, it is equipped with locating rack in transmission shaft another side in the joint housing, the drive control device passes through
Heat sink is fixed on locating rack.
Further, the joint housing is equipped with end cap in the one end for being located at drive control device, and the end cap passes through copper
Threaded post is fixedly connected with locating rack.
Compared with prior art, the invention has the following advantages that
1, the present invention torque sensor is added in joint module, allow by the module assembled at robot perceive
Force information in environment realizes power control, therefore improves the safety of robot, self-protection, this joint module can be with
Being applied to high-precision assembly, polishing, scouring etc. needs robot end to contact and control with environment in the working environment of power output；
2, present invention adds variation rigidity modules, so that robot, which overcomes, realizes that band occurs in Shared control by algorithm
The problems such as wide inadequate, control system is computationally intensive, response lag, such as due to not needing in the task of some human-computer interactions
Robot has high-precision but has to can guarantee man-machine safety, and it is whole that the rigidity value of joint module is turned down i.e. robot
The rigidity of body is turned down, then the safety of human-computer interaction can be improved；
3, drive control device obtains the deflection of the deflection angle and joint output turntable of rimless rotor by encoder
Angle provides necessary condition for the closed-loop feedback of Torque Control, realize joint module Torque Control and robot it is submissive
Control, to improve joint transmission precision and torque output accuracy；
4, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize the high-precision position control in joint；
5, the present invention realizes the inside cabling of joint module by reasonable internal structure design and type selecting, to guarantee
The simple and beautiful property of joint of robot appearance.
Detailed description of the invention
Fig. 1 is the perspective view that variation rigidity of the present invention controls integrated robot revolute joint module；
Fig. 2 is the top view that variation rigidity of the present invention controls integrated robot revolute joint module；
Fig. 3 is the A-A cross-sectional view of Fig. 2；
Fig. 4 is the schematic illustration that variation rigidity of the present invention controls integrated robot revolute joint module stop mechanism.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.It is understood that tool described herein
Body embodiment is used only for explaining the present invention rather than limiting the invention.It also should be noted that for the ease of retouching
It states, only some but not all contents related to the present invention are shown in the drawings.
Embodiment
Please refer to figs. 1 to 4, and a kind of variation rigidity controls integrated robot revolute joint module, including joint housing
100, joint output turntable 200, drive control device 300, transmission mechanism, torque sensor 400, variation rigidity module 500, first are compiled
Code device and second encoder；
Transmission mechanism includes rimless motor, transmission shaft 20 and harmonic speed reducer 30, and rimless motor includes stator 11 and rotor
12, the stator 11 of rimless motor is fixed in joint housing 100, and the rotor 12 of transmission shaft 20 and rimless motor is cooperatively connected, and is passed
One end of moving axis 20 is connect with the wave producer of harmonic speed reducer 30, the steel wheel and variation rigidity module 500 1 of harmonic speed reducer 30
End is fixedly connected, and 500 other end of variation rigidity module exports turntable 200 with joint by torque sensor 400 and is fixedly connected；
First encoder is used to measure the angular displacement information of joint output turntable 200 or torque sensor 400, the second coding
Device is used to measure the angular displacement information of rotor 12 or transmission shaft 20；The control terminal of rimless motor is electrically connected with drive control device 300,
Torque sensor 400, the first encoder and second encoder are electrically connected with drive control device 300 respectively.
From the foregoing, it will be observed that the present invention rotates and realizes the revolution of joint output turntable using rimless motor driven transmission shaft, and
The angular displacement information that joint exports turntable or torque sensor is read by the first encoder, rotor is obtained by second encoder
Angular displacement information, by torque sensor measure joint export turntable suffered by moment of face, then drive control device is according to rotor
Angular displacement information, joint output turntable angular displacement information and suffered moment of face, utilize drive control device preset control calculation
Method controls rimless motor rotation.Drive control device exports turntable by the angular displacement information and joint for obtaining rimless rotor
Angular displacement information obtains the deflection angle of rimless rotor and the deflection angle of joint output turntable, and is passed by torque
Sensor obtains the moment of face that outer bound pair joint module applies, and provides necessary condition for the closed-loop feedback of Torque Control, therefore can
The Torque Control of joint module and the Shared control of robot are realized, to improve joint transmission precision and torque output accuracy.
Additionally incorporated variation rigidity module so that robot overcome by algorithm realize Shared control occur bandwidth not enough, control
The problems such as system-computed amount is big, response lag.In practical applications, due to not needing such as in the task of some human-computer interactions
Robot has high-precision but has to can guarantee man-machine safety, the rigidity value of joint module can be turned down i.e. robot
Whole rigidity is turned down, to improve the safety of human-computer interaction.
In the present embodiment, the harmonic speed reducer 30 and transmission shaft 20 are equipped with hollow hole 21, and the hollow hole 21 is used
In taking the inner line.The inside cabling that joint module is realized by reasonable internal structure design and type selecting, to ensure that machine
The simple and beautiful property of person joint's appearance；In joint, output turntable is respectively equipped with necessary cable hole to realize entire joint simultaneously
Internal cabling.
In the present embodiment, the steel wheel of the harmonic speed reducer 30 passes through intermediate connector 600 and variation rigidity module 500 1
End is fixedly connected.
In the present embodiment, the present invention is improved further, and first encoder is absolute type encoder, absolute type
Encoder includes magnet ring 41 and reading head 42, and the torque sensor 400 is wheel spoke type sensor, and wheel spoke type sensor includes interior
Ring, outer ring and strain beam, absolute type encoder magnet ring 41 are fixed on the inner ring of torque sensor 400 by the first mounting base 43
On, be equipped with first support 44 in joint housing 100, absolute type encoder reading head 42 be fixed in first support 44 and with it is absolute
The position of formula encoder magnet ring 41 is corresponding；The outer ring of torque sensor 400 and joint output turntable 200 connect by the way that screw is fixed
It connects, the inner ring of torque sensor 400 is fixedly connected with 500 other end of variation rigidity module by screw.Absolute type encoder can be with
Joint output turntable opposite base is directly measured around harmonic speed reducer and the deflection angle of transmission shaft, overcomes harmonic speed reducer
There is certain flexibility bring location error with torque sensor, improve the position precision of joint module, while being robot
Joint position closed-loop feedback provides necessary condition.
In the present embodiment, the second encoder is incremental encoder, and incremental encoder includes magnet ring 51 and reads
Several 52, incremental encoder magnet ring 51 is fixed in 20 the other end face of transmission shaft by the second mounting base 53, joint housing
Be equipped with second support 54 in 100, incremental encoder reading head 52 be fixed in second support 54 and with incremental encoder magnetic
The position of ring 51 is corresponding.The incremental encoder is used to measure the angular displacement information of rotor or transmission shaft, thus more accurate
Ground controls the velocity of rotation of joint module, direction, while providing necessary condition for joint of robot position closed-loop feedback.
On above-mentioned basis, the present invention has also done further improvement, and 20 other end of transmission shaft, which is equipped with, prevents transmission shaft
20 stop mechanisms arbitrarily rotated, when joint module is powered, transmission shaft 20 can be freely rotated, and when joint module power loss, be passed
Moving axis 20 is stopped mechanism and blocks and cannot be freely rotated.Specifically, the stop mechanism include electromagnet 61, reset spring 62,
Armature 63 and stop snap ring 64, for 64 fixing sleeve of stop snap ring on 20 other end of transmission shaft, electromagnet 61 and armature 63 are located at pass
It saves in shell 100, when joint module is powered, electromagnet 61 is powered, and electromagnet 61 and armature 63 are attracted, and armature 63, which is in, to be inhaled
Coincidence is set, and transmission shaft 20 can be freely rotated, 61 power loss of electromagnet when joint module power loss, and armature 63 is acted in reset spring 62
Position is moved in lower reply to end, and stop snap ring 64 is blocked by armature 63, and transmission shaft 20 cannot be freely rotated.Utilize electromagnet and armature
It matches, armature is set there are two operating position, and electromagnet is powered, and armature is in attracted position, electromagnet power loss, and armature is in only
Dynamic position prevents transmission shaft from arbitrarily rotating to reach when joint module is not when working using stop mechanism.
On above-mentioned basis, the present invention has also done further improvement, the stop mechanism further include the first limit convex shoulder 65,
Fixation is located at transmission shaft 20 respectively for wave washer 67 and the second limit convex shoulder 66, the first limit convex shoulder 65 and the second limit convex shoulder 66
On the other end, wave washer 67 and 64 sets of stop snap ring are on 20 other end of transmission shaft and are sequentially located at 65 He of the first limit convex shoulder
Between second limit convex shoulder 66, stop snap ring 64 is squeezed by wave washer 67 and the second limit convex shoulder 66 to be clamped and covers in transmission shaft
On 20 other ends.Stop retainer ring presses are clamped on the transmission shaft other end using wave washer and limit convex shoulder, realizes and utilizes
Frictional force maintains relatively fixed connection between stop snap ring and transmission shaft, and is more than certain when joint exports turntable by moment of face
When size, stop snap ring then skids on the transmission shaft other end, and joint output turntable can rotate, and guarantees stop
Ring is not destroyed by force.
In the present embodiment, locating rack 70, the driving are equipped in 20 another side of transmission shaft in the joint housing 100
Controller 300 is fixed on locating rack 70 by heat sink 71.
In the present embodiment, the joint housing 100 is equipped with end cap 80 in the one end for being located at drive control device 300, described
End cap 80 is fixedly connected by copper threaded post 72 with locating rack 70, and entire joint module is formed a closed function list
Member, end cap can prevent dust etc. from entering in joint housing, guarantee the safety of joint of robot enclosure interior, while pass through end cap
Design facilitate the later period to check the components of intra articular, safeguard without dismantling entire joint, it is convenient to joint
Module repairs.
Compared with prior art, the invention has the following advantages that
1, the present invention torque sensor is added in joint module, allow by the module assembled at robot perceive
Force information in environment realizes power control, therefore improves the safety of robot, self-protection, this joint module can be with
Being applied to high-precision assembly, polishing, scouring etc. needs robot end to contact and control with environment in the working environment of power output；
2, present invention adds variation rigidity modules, so that robot, which overcomes, realizes that band occurs in Shared control by algorithm
The problems such as wide inadequate, control system is computationally intensive, response lag.In exemplary application, such as task of some human-computer interactions
In due to do not need robot have high-precision but have to can guarantee man-machine safety, can be by the rigidity value of joint module
The rigidity for turning down i.e. robot entirety is turned down, to improve the safety of human-computer interaction；
3, drive control device obtains the deflection of the deflection angle and joint output turntable of rimless rotor by encoder
Angle provides necessary condition for the closed-loop feedback of Torque Control, realize joint module Torque Control and robot it is submissive
Control, to improve joint transmission precision and torque output accuracy；
4, by using the combination of increment type and absolute type Dual-encoder, and absolute encoder is mounted on joint output
End, so as to realize the high-precision position control in joint；
5, the present invention realizes the inside cabling of joint module by reasonable internal structure design and type selecting, to guarantee
The simple and beautiful property of joint of robot appearance.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (10)
1. a kind of variation rigidity controls integrated robot revolute joint module, it is characterised in that: exported including joint housing, joint
Turntable, drive control device, transmission mechanism, torque sensor, variation rigidity module, the first encoder and second encoder, driver
Structure includes rimless motor, transmission shaft and harmonic speed reducer, and rimless motor includes stator and rotor, and the stator of rimless motor is fixed on
In joint housing, transmission shaft is connect with the rotor engagement of rimless motor, one end of transmission shaft and the wave producer of harmonic speed reducer
Connection, the steel wheel of harmonic speed reducer are fixedly connected with variation rigidity module one end, and the variation rigidity module other end passes through torque sensor
It is fixedly connected with joint output turntable；First encoder is used to measure the angular displacement letter of joint output turntable or torque sensor
Breath, second encoder are used to measure the angular displacement information of rotor or transmission shaft；Control terminal and the drive control device electricity of rimless motor
Connection, torque sensor, the first encoder and second encoder are electrically connected with drive control device respectively.
2. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: described humorous
Wave retarder and transmission shaft are equipped with hollow hole, and the hollow hole is for taking the inner line.
3. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: described humorous
The steel wheel of wave retarder is fixedly connected by intermediate connector with variation rigidity module one end.
4. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: described
One encoder is absolute type encoder, and absolute type encoder includes magnet ring and reading head, and the torque sensor is spoke type biography
Sensor, wheel spoke type sensor include inner ring, outer ring and strain beam, and absolute type encoder magnet ring is fixed on power by the first mounting base
In the inner ring of square sensor, be equipped with first support in joint housing, absolute type encoder reading head be fixed in first support and
It is corresponding with the position of absolute type encoder magnet ring；The outer ring of torque sensor and joint output turntable connect by the way that screw is fixed
It connects, the inner ring of torque sensor is fixedly connected with the variation rigidity module other end by screw.
5. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: described
Two encoders are incremental encoder, and incremental encoder includes magnet ring and reading head, and incremental encoder magnet ring passes through second
Mounting base is fixed in transmission shaft the other end face, and second support is equipped in joint housing, and incremental encoder reading head is fixed
It is on the secondary support bracket and corresponding with the position of incremental encoder magnet ring.
6. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: the biography
The moving axis other end is equipped with the stop mechanism for preventing transmission shaft from arbitrarily rotating, and when joint module is powered, transmission shaft can be freely rotated,
When joint module power loss, transmission shaft is stopped mechanism and blocks and cannot be freely rotated.
7. variation rigidity according to claim 6 controls integrated robot revolute joint module, it is characterised in that: described to stop
Motivation structure includes electromagnet, reset spring, armature and stop snap ring, and stop snap ring fixing sleeve is on the transmission shaft other end, electromagnetism
Iron and armature are located in joint housing, and when joint module is powered, electromagnet is powered, and electromagnet and armature are attracted, and armature is in
Attracted position, transmission shaft can be freely rotated, and the electromagnet power loss when joint module power loss, armature is replied under action of reset spring
To stop position, stop snap ring is blocked by armature, and transmission shaft cannot be freely rotated.
8. variation rigidity according to claim 7 controls integrated robot revolute joint module, it is characterised in that: described to stop
Motivation structure further includes the first limit convex shoulder, wave washer and the second limit convex shoulder, and the first limit convex shoulder and the second limit convex shoulder divide
It Gu Ding not be located on the transmission shaft other end, wave washer and stop ring set on the transmission shaft other end and are sequentially located at the first limit
Between position convex shoulder and the second limit convex shoulder, stop snap ring is squeezed by wave washer and the second limit convex shoulder to be clamped and covers in transmission shaft
On the other end.
9. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: the pass
It saves in shell and is equipped with locating rack in transmission shaft another side, the drive control device is fixed on locating rack by heat sink.
10. variation rigidity according to claim 1 controls integrated robot revolute joint module, it is characterised in that: described
Joint housing is equipped with end cap in the one end for being located at drive control device, and the end cap connects by the way that copper threaded post and locating rack are fixed
It connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811562427.5A CN109551480A (en) | 2018-12-20 | 2018-12-20 | A kind of variation rigidity controls integrated robot revolute joint module |
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| CN201811562427.5A CN109551480A (en) | 2018-12-20 | 2018-12-20 | A kind of variation rigidity controls integrated robot revolute joint module |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111761608A (en) * | 2020-07-09 | 2020-10-13 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| WO2024027172A1 (en) * | 2022-08-04 | 2024-02-08 | 追觅创新科技(苏州)有限公司 | Robot joint, encoding method, and robot |
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| CN205630676U (en) * | 2016-03-30 | 2016-10-12 | 广东工业大学 | Interior revolute joint of line robot module of walking |
| CN106826906A (en) * | 2017-02-27 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | A kind of mechanical arm modular joint of non-moment sensor |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
| CN207953918U (en) * | 2018-02-24 | 2018-10-12 | 河北工业大学 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
| CN108297127A (en) * | 2018-02-27 | 2018-07-20 | 哈尔滨工业大学 | A kind of stiffness variable passive compliance joint based on elastic element |
| CN108214544A (en) * | 2018-02-28 | 2018-06-29 | 北京精密机电控制设备研究所 | A kind of integrated form joint of robot device |
| CN108748274A (en) * | 2018-08-30 | 2018-11-06 | 遨博（北京）智能科技有限公司 | A kind of brake gear, joint of robot arm and robot |
| CN209551777U (en) * | 2018-12-20 | 2019-10-29 | 广东工业大学 | A kind of variation rigidity controls integrated robot revolute joint module |
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| CN111761608A (en) * | 2020-07-09 | 2020-10-13 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| CN111761608B (en) * | 2020-07-09 | 2021-11-16 | 广东博智林机器人有限公司 | Joint module and cooperative robot |
| WO2024027172A1 (en) * | 2022-08-04 | 2024-02-08 | 追觅创新科技(苏州)有限公司 | Robot joint, encoding method, and robot |
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